Master-slave system and its driving methodTechnical field
The present invention relates to master-slave system and its driving method.
Background technology
In the past, as the primary input device of master-slave system, it is known to the device for from device being in similar shape (for example, ginsengAccording to patent document 1).
It is optics from having on the front end face of elongated insertion section from device in the master-slave system of patent document 1The endoscope of system and two treatment apparatus, master device has：Multiple joints, it is curved that it carries out the corresponding bending section of insertion sectionSong action；Handle, makes insertion section carry out reversing such action by the spinning movement of the handle；And with treatment apparatus in phaseLike two handle parts of shape, they configure in the front end of handle, with the hands they operated so that two treatment apparatusActed.
Prior art literature
Patent document
Patent document 1：No. 4608601 publications of Japanese Patent Publication No.
The content of the invention
The invention problem to be solved
However, in the master-slave system of patent document 1, the front end of insertion section is rotated in the handle of operation master deviceIn the case of action, it is simultaneously rotated due to being arranged at the viewing optical system of front end face for the insertion section for being provided with treatment apparatus,Therefore the problem of position that there is the treatment apparatus in the handle position and monitor of master device can shift such.That is, byRotate front end face in the rotation even from handle, be arranged at front end face viewing optical system and treatment apparatus it is relativePosition relationship does not also change, therefore is being obtained and be shown on the image of monitor, treatment apparatus by viewing optical systemPosition do not change all the time, handle position and the position of the treatment apparatus on monitor can shift.
The present invention is to complete in view of the foregoing, even if its object is to provide a kind of handle behaviour for carrying out master deviceAlso master-slave system and its driving side of the handle position with the corresponding relation of the position of the treatment apparatus on monitor are able to maintain thatMethod.
Means for solving the problems
In order to reach above-mentioned purpose, the present invention provides following means.
The mode of the present invention provides a kind of master-slave system, and the master-slave system has：From device, it has observation opticsSystem and disposal portion, the viewing optical system shoot subject, and the disposal portion is protruded from the face for being provided with the viewing optical systemAnd at least a portion in the disposal portion is together shot with subject by the viewing optical system；Master device, it has handle and placeOperating portion is put, the handle in the way of the rotation of defined axis can be supported by, and the disposal operations portion is arranged at the handle；ControlPortion processed, it makes the relative around the rotation with axis that the face intersects of the rotation of the handle of the master device and said slave deviceShould, and make the operation in the disposal operations portion corresponding with the action in the disposal portion；Image processing part, its generation makes describedThe anglec of rotation around the axis intersected with the face of image rotation said slave device acquired by viewing optical system and obtainCorrection chart picture；And monitor, it shows the correction chart picture generated by the image processing part.
According to the manner, when the handle for making master device rotates around defined axis, control unit make from device around with settingThe axis that the face for having viewing optical system intersects rotates angle corresponding with the anglec of rotation of handle.Thus, change observation opticsDirection of observation of the system to subject.Because disposal portion is protruded from the face for being provided with viewing optical system, therefore along with observationThe rotation of optical system, disposal portion also while rotate in the same direction.
Also, when the disposal operations portion of the handle to being arranged at master device is operated, control unit carries out disposal portionWith the action of the corresponding amount of operation in disposal operations portion.Thereby, it is possible to from being carried out by disposal portion from viewing optical systemDirection is disposed to subject.
In this case, when rotary handle, image processing part generates correction chart picture, and shows generated on a monitorCorrection chart picture.Due to image rotation of the correction chart as acquired by making viewing optical system rotated by the rotation of handle from dressThe anglec of rotation put, thus can be made on a monitor by not rotating subject disposal portion relative to subject rotation in the way ofShown.
That is, because the disposal portion on monitor is rotated up in the direction of rotation identical side with the handle of master device, becauseThis observes monitor while the operator being disposed can intuitively be operated.Further, it is possible to make the position of handleWith the position consistency in the disposal portion on monitor, even if after the activation interval time and in the case of being operated again, also canEnough readily recognize the corresponding relation of handle and disposal portion.
Also, the another way of the present invention provides a kind of master-slave system, the master-slave system has：From device, it, which has, seesOptical system and disposal portion are examined, the viewing optical system shoots subject, the disposal portion is from being provided with the viewing optical systemFace is protruded and at least a portion in the disposal portion is together shot with subject by the viewing optical system；Master device, it has handHandle and disposal operations portion, the handle in the way of the rotation of defined axis can be supported by, and the disposal operations portion is arranged at thisHandle；Control unit, its rotation for making the handle of the master device and said slave device around the axis intersected with the faceRotation is corresponding, and makes the operation in the disposal operations portion corresponding with the action in the disposal portion；Image processing part, it is given birth toInto correction chart picture obtained from the anglec of rotation of handle described in the image rotation made acquired by the viewing optical system；And prisonVisual organ, it shows the correction chart picture generated by the image processing part.
According to the manner, when rotary handle, image processing part generates correction chart picture, and shows generated on a monitorCorrection chart picture.Due to the anglec of rotation of image rotation handle of the correction chart as acquired by making viewing optical system, therefore, it is possible toThe disposal portion on monitor is set to be rotated up in the direction of rotation identical side with the handle of master device, while observation monitor oneWhile the operator being disposed can intuitively be operated.Further, it is possible to make the disposal portion on the position and monitor of handlePosition consistency, even if after the activation interval time and in the case of being operated again, can also readily recognize handle withThe corresponding relation in disposal portion.
In aforesaid way, described image processing unit can also generate make the image acquired by the viewing optical system withCorrection chart picture obtained from its picture centre is pivoted about.
In such manner, it is possible to utilize simple processing generation correction chart picture.
Also, in aforesaid way, described image processing unit can also generate to be fixed on the viewing optical system instituteCorrection chart picture obtained from the axis of the subject in the image of acquirement is pivoted about.
In such manner, it is possible to show that subject is tried one's best the correction chart picture of motionless and disposal portion movement, can be generated on a monitorIt is easy to the correction chart picture of observation.
Also, in aforesaid way or, when the rotatable handle is to set angle, the control unit is by instituteState the correction chart picture on monitor and switch to correction chart picture again, and release the master device the handle rotation with it is described fromThe corresponding relation of the rotation around the axis intersected with the face of device, wherein, this again correction chart seem in the correction chart pictureOn the basis of have rotated the anglec of rotation that can reduce the handle absolute value defined correction angle obtained from, willAt the time of the difference that the handle moves between the correction angle is the angle below defined threshold value, the control unitIt is again turned on the corresponding relation.
So, the posture due to the operator when the anglec of rotation of handle becomes big is by restraining, therefore in rotatable handle to settingAt the time of determining angle, the image being displayed on monitor switches to correction chart picture again from correction chart picture, so as to make monitoringDisposal portion on device returns to the rotary angle position of the position less than actual handle.In this condition, release master device withFrom the corresponding relation of device, and as being operated even if master device from device also motionless state, thus it will be maintained at from deviceRotate to the position of set angle.
Also, in this condition, by making the difference that handle is moved between correction angle be below defined threshold valueAngle, and the position in disposal portion in the handle position and monitor of master device can be made substantially uniform.Then, by opening againOpen corresponding relation, while can for handle until in the easily operated angular range of set angle, according to it is aobviousThe corresponding position relationship in disposal portion for being shown in monitor is operated to handle, while can make to rotate to more than setting from deviceThe wide range of angle.
Also, in aforesaid way or, in the handle by under postrotational state, the control unit is releasedThe rotation of the handle and the corresponding relation of the rotation around the axis intersected with the face of said slave device, then in the handWhen handle moves arbitrary move angle, the control unit makes to move described in the correction image rotation being shown on the monitorAngle, and it is again turned on the corresponding relation.
So, because the posture of the operator when the anglec of rotation of handle becomes big is by restraining, therefore take office in rotatable handleIn the state of the angle of meaning, master device and the corresponding relation from device are released, and turns into and is operated even if master device from deviceMotionless state, thus will be maintained at by postrotational position from device.
In this condition, when being again turned on corresponding relation after handle is moved arbitrary move angle, from devicePostrotational state is corresponding with the state that handle moves move angle from set angle, and by image processing partMake correction chart as rotation movement angle, and make the position one of the position in the disposal portion of display on a monitor and the handle of master deviceCause.
Thus, while can be in the arbitrary easily operated angular range for handle according to being shown in monitoringThe corresponding position relationship in disposal portion of device is operated to handle, while can make to rotate to wide range from device.
Also, the another way of the present invention provides a kind of master-slave system, the master-slave system has：From device, it, which has, seesOptical system and disposal portion are examined, the viewing optical system shoots subject, the disposal portion is from being provided with the viewing optical systemFace is protruded and at least a portion in the disposal portion is together shot with subject by the viewing optical system；Master device, it has handHandle and disposal operations portion, the handle in the way of the rotation of defined axis can be supported by, and the disposal operations portion is arranged at thisHandle；Control unit, its rotation for making the handle of the master device and said slave device around the axis intersected with the faceRotation is corresponding, and makes the operation in the disposal operations portion corresponding with the action in the disposal portion；Monitor, its show byThe image that the viewing optical system is obtained；And input unit, it makes the operation in the disposal operations portion be invalid, is passing through instituteStating input unit makes the operation in the disposal operations portion in the state of invalid, the control unit releases rotation and the institute of the handleState the corresponding relation from the rotation around the axis intersected with the face of device, by the handle configurations in including describedAt the time of the corresponding position in disposal portion on monitor, the corresponding relation is again turned on, and make the disposal operations portionOperate to be effective.
According to the manner, when the handle for making master device rotates around defined axis, control unit make from device around with settingThe axis that the face for having viewing optical system intersects rotates angle corresponding with the anglec of rotation of handle.Thus, change observation opticsDirection of observation of the system to subject.Because disposal portion is protruded from the face for being provided with viewing optical system, therefore along with observationThe rotation of optical system, disposal portion also while rotate in the same direction.
Rotation due to disposal portion also with viewing optical system is rotated together with, therefore is being shown in the image of monitor,Disposal portion is maintained into same position all the time, only subject is moved.
Also, when the disposal operations portion of the handle to being arranged at master device is operated, control unit carries out disposal portionWith the action of the corresponding amount of operation in disposal operations portion.Thereby, it is possible to from being carried out by disposal portion from viewing optical systemDirection is disposed to subject.
In this case, make rotatable handle in the state of the arbitrary anglec of rotation (move angle) in operator, when fromInput unit make the operation in disposal operations portion for it is invalid when, by even if operation disposal portion of disposal operations portion also without action in the way ofLocked.In this condition, control unit releases the corresponding relation of the rotation and rotation from device of handle, though thus asOperation handle will be maintained at the position for maintaining to have rotated move angle from device also motionless state from device.
Also, due to when operator's operation handle by handle configurations on position corresponding with the disposal portion on monitorWhen, control unit is again turned on corresponding relation, therefore handle is corresponding with the state that move angle is offset by from device, the opposing partyThe position consistency in the disposal portion on the position and monitor of face handle.Thus, while can be easily operated for handleAngular range in handle is operated according to the corresponding position relationship in disposal portion with being shown in monitor, while can makeThe wide range more than move angle is rotated to from device.
Also, the another way of the present invention provides a kind of master-slave system, the master-slave system has：From device, it, which has, seesOptical system and disposal portion are examined, the viewing optical system shoots subject, the disposal portion is from being provided with the viewing optical systemFace is protruded and at least a portion in the disposal portion is together shot with subject by the viewing optical system；Master device, it has handHandle and disposal operations portion, the handle in the way of the rotation of defined axis can be supported by, and the disposal operations portion is arranged at thisHandle；Control unit, its rotation for making the handle of the master device and said slave device around the axis intersected with the faceRotation is corresponding, and makes the operation in the disposal operations portion corresponding with the action in the disposal portion；And monitor, it is consolidatedDue to the handle, the image obtained by the viewing optical system is shown.
According to the manner, when the handle for making master device rotates around defined axis, control unit make from device around with settingThe axis that the face for having viewing optical system intersects rotates angle corresponding with the anglec of rotation of handle.Thus optical system is observed in changeThe direction of observation united to subject.Because disposal portion is protruded from the face for being provided with viewing optical system, therefore along with observation lightThe rotation of system, disposal portion also while rotate in the same direction.
Rotation due to disposal portion also with viewing optical system is rotated together with, therefore is being shown in the image of monitor,Disposal portion is maintained into same position all the time, only subject is moved.In this case, because monitor is fixed on handle, thereforeMonitor is also rotated together with handle.Thus, due to the disposal portion on monitor is configured in the rotation with the handle of master deviceAngle position identical rotary angle position, therefore monitor is observed while the operator being disposed can be carried out intuitivelyOperation.
In aforesaid way or, when the handle rotates to set angle from reference position, the control unitRelease the handle of the master device rotation and said slave device around the corresponding of the rotation with axis that the face intersectsRelation, and it is again turned at the time of the handle returns to the reference position corresponding relation.
So, because the posture of the operator when the anglec of rotation of handle becomes big is by restraining, therefore arrived by rotatable handleAt the time of set angle, master device and corresponding relation from device are released, and as not operated even if master device from device also notDynamic state, thus will be maintained at the position for rotating to set angle from device.
In this condition, when making handle return to reference position, control unit is again turned on corresponding relation, from device rotationState to set angle is corresponding with the state that handle is located at reference position.Due to the position in the disposal portion of display on a monitorPut the position consistency all the time with handle, therefore while can for handle from reference position to set angle be easy intoHandle is operated according to the corresponding position relationship in disposal portion with being shown in monitor in the angular range of row operation, one sideIt can make to rotate to the wide range more than set angle from device.
Also, the another way of the present invention provides a kind of driving method of master-slave system, the master-slave system has：From dressPut, it has viewing optical system and disposal portion, the viewing optical system shoots subject, and the disposal portion is from this is provided withThe face of optical system is protruded and at least a portion in the disposal portion is together shot with subject by the viewing optical system；And it is mainDevice, it has handle and disposal operations portion, and the handle in the way of the rotation of defined axis can be supported by, disposal behaviourThe handle is arranged at as portion, wherein, the driving method of the master-slave system is included：Action step, according to the master deviceThe rotation of handle and said slave device is rotated around the axis intersected with the face；Image generation step, generation makes the observationImage rotation said slave device acquired by optical system around school obtained from the anglec of rotation of the axis intersected with the facePositive image；And step display, the correction chart picture generated in the image generation step is shown on a monitor.
Also, the another way of the present invention provides a kind of driving method of master-slave system, the master-slave system has：From dressPut, it has viewing optical system and disposal portion, the viewing optical system shoots subject, and the disposal portion is from this is provided withThe face of optical system is protruded and at least a portion in the disposal portion is together shot with subject by the viewing optical system；And it is mainDevice, it has handle and disposal operations portion, and the handle in the way of the rotation of defined axis can be supported by, disposal behaviourThe handle is arranged at as portion, wherein, the driving method of the master-slave system is included：Action step, according to the master deviceThe rotation of handle and said slave device is rotated around the axis intersected with the face；Image generation step, generation makes the observationCorrection chart picture obtained from the anglec of rotation of handle described in image rotation acquired by optical system；And step display, will beThe correction chart picture generated in the image generation step is shown on a monitor.
In aforesaid way, can also be generated in described image generation step makes acquired by the viewing optical systemCorrection chart picture obtained from image is pivoted about with its picture centre.
Also, in aforesaid way, it can also generate to be fixed on the observation optics in described image generation stepCorrection chart picture obtained from the axis of the subject in image acquired by system is pivoted about.
Also, it can also be comprised the following steps in aforesaid way：Step is released, in the rotatable handle to set angleWhen, the image being displayed on the monitor switches to correction chart picture again, and releases the rotation of the handle of the master deviceTurn corresponding relation with the rotation around the axis intersected with the face of said slave device, wherein, this again correction chart seem in instituteThe defined correction of the absolute value for the anglec of rotation that can reduce the handle is have rotated on the basis of the anglec of rotation for stating handleObtained from angle；And step is again turned on, after the releasing step, the correction angle is moved making the handleAt the moment, it is again turned on the corresponding relation, and the display for the correction chart picture being again turned on the monitor.
Also, it can also be comprised the following steps in aforesaid way：Step is released, in the handle by postrotational stateUnder, release the corresponding relation of the rotation of the handle and the rotation around the axis intersected with the face of said slave device；AndStep is again turned on, after the releasing step, when the handle is moved into arbitrary move angle, makes to be shown in the prisonMove angle described in correction image rotation on visual organ, and it is again turned on the corresponding relation.
Invention effect
According to the present invention, realize and be also able to maintain that on handle position and monitor even if the handle operation for carrying out master deviceThe effect of the corresponding relation of the position for the treatment of apparatus.
Brief description of the drawings
Fig. 1 is the overall structure figure for the master-slave system for showing the first embodiment of the present invention.
Fig. 2 is the stereogram of the insertion section front end of the endoscope from device for the master-slave system for being shown as Fig. 1.
Fig. 3 is the stereogram of the master device for the master-slave system for showing Fig. 1.
Fig. 4 is that (a) master device being configured at Fig. 1 master-slave system in the state of reference position, (b) is shown respectively from dressPut and image on (c) monitor figure.
Fig. 5 is that the state that the handle of Fig. 1 master-slave system is rotated to set angle from Fig. 4 reference position is shown respectivelyUnder (a) master device, (b) from the figure of the image on device and (c) monitor.
Fig. 6 is the flow chart that the action to Fig. 1 master-slave system is illustrated.
Fig. 7 is that (a) master device in the state of the rotatable handle for making conventional master-slave system, (b) is shown respectively from deviceAnd the figure of the image on (c) monitor.
Fig. 8 is the flow chart that illustrates of variation of the action to Fig. 1 master-slave system.
Fig. 9 is the solid of one of (a) handle for showing to illustrate the variation of the master device of Fig. 1 master-slave systemFigure, the stereogram of one of (b) master device.
Figure 10 is the flow chart that the action to the master-slave system of second embodiment of the present invention is illustrated.
Figure 11 is the image example that the action to Figure 10 master-slave system is illustrated, and is that (a) is shown respectively by rotatable handleImage, (b) to the state of set angle have further rotated the figure of the image of 180 ° of state.
Figure 12 is the flow chart that the action to the master-slave system of third embodiment of the present invention is illustrated.
Figure 13 is the stereogram of the master device for the master-slave system for showing the 4th embodiment of the present invention.
Figure 14 is to illustrate that to be configured at Figure 13 master-slave system on the handle and monitor of the state of reference positionThe figure of image.
Figure 15 be illustrate that the handle of Figure 13 master-slave system from the handle of reference position state of rotation andThe figure of image on monitor.
Figure 16 is that (a) prison being configured at the master-slave system of the variation of the present invention in the state of reference position is shown respectivelyImage, the figure of (b) handle position on visual organ.
Figure 17 is to be shown respectively to supervise the handle of Figure 16 master-slave system from (a) under the state of rotation of reference positionImage, the figure of (b) handle position on visual organ.
Figure 18 is that (a) monitoring only returned to the handle of Figure 16 master-slave system in the state of reference position is shown respectivelyImage, the figure of (b) handle position on device.
Embodiment
Hereinafter, the master-slave system 1 referring to the drawings to the first embodiment of the present invention is illustrated.
As shown in figure 1, the master-slave system 1 of present embodiment is endoscopic system, it has：Master device 2, it is by operatorO is operated；It is used as the endoscope 4 from device；Drive division 5, it drives the endoscope 4；Control unit 6, it controls drive division 5；And display part (monitor) 7, it shows the image obtained by endoscope 4.
Endoscope 4 has the soft insertion section 3 in internal, soft such as the large intestine internal organs for being inserted into patient P.
As shown in Fig. 2 be provided with the object lens 8 of viewing optical system on the front end face 3a of insertion section 3, and be provided with fromTwo treatment apparatus (disposal portion) 9 that front end face 3a is protruded towards front.Treatment apparatus 9 has articulated structure respectively.Also,Multiple bending sections (omitting diagram) are provided near the front end of insertion section 3.Can be by combining the bending of each bending section, and makeThe front end face 3a of insertion section 3 is moved to arbitrary direction.
Base end side of the drive division 5 in insertion section 3 carries out the insert action of the insertion section 3 of endoscope 4, the bending of insertion section 3The driving of action, the twisting action of insertion section 3 etc..
As shown in figures 1 and 3, the master device 2 of present embodiment has：Handle 22, its with can around trunnion axis X rotateMode is supported on the operating desk 21 fixed on the ground；The disposal operations portion 23 of the multi-joint construction corresponding with treatment apparatus 9,It is arranged at the left and right of the handle 22, with the hands holds its leading section to be operated for operator O；And floor push 24,It is configured on the ground.
It is configured on the operating table 30 of the side of master device 2, is disappeared as shown in figure 1, collaborationist (not shown) lies in patient PThe appropriate processing such as poison, anesthesia.
Operator O indicates that collaborationist makes the insertion section 3 of endoscope 4 imported into big enteral from patient P anus.Operator OOperate master device 2 and make the bending section of insertion section 3 appropriately curved, acted the front end of endoscope 4.
Control unit 6 makes the anglec of rotation of the handle 22 of master device 2 and the front end face 3a of insertion section 3 rotation around length axle YGyration is corresponding, and makes the operation in the disposal operations portion 23 of master device 2 corresponding with the action for the treatment of apparatus 9.Here, makeOperation is corresponding with action to be referred to be acted the corresponding part of endoscope 4 by the operation of the side of master device 2.
Specifically, control unit 6 generates the rotation around length axle Y of insertion section 3 corresponding with the anglec of rotation of handle 22Command signal is simultaneously output to drive division 5.Also, control unit 6 is generated and disposal operations portion 23 because of operation disposal operations portion 23The rotation command signal in corresponding each joint of the corresponding treatment apparatus 9 of the anglec of rotation in each joint is simultaneously output to drive division 5.
Also, control unit 6 has an image processing part (omit diagram), the image processing part via object lens 8 to photographingImage is corrected and is output to monitor 7.
When being rotated by making the front end face 3a of insertion section 3 around trunnion axis X rotary handles 22, image processing part generation makesThe image rotation correction chart picture of the anglec of rotation.
The effect to the master-slave system 1 of the present embodiment so constituted is illustrated below.
It is inserted under endoceliac state, is wanted by endoscope 4 to being carried out in body cavity by the insertion section 3 of endoscope 4Observation and disposal, it is necessary to operator O by 7 pairs of endoceliac states photographed by endoscope 4 of monitor while observed,While operation master device 2 handle 22 and disposal operations portion 23 and make the insertion section 3 as the endoscope 4 from device and disposerTool 9 is moved.
Handle 22 and treatment apparatus 9 are configured at into the state of reference position when shown in (a) such as Fig. 4 to (c),As shown in Figure 5 during rotary handle 22, each bending section of the insertion section 3 of endoscope 4 is acted, make front end face 3a around itLength axle Y rotates angle (for example, equal angle) corresponding with the anglec of rotation of handle 22.When rotating front end face 3a,Make the object lens 8 and treatment apparatus 9 that are arranged at front end face 3a while rotating in the same direction.
Because when rotating object lens 8, the visual field rotates, therefore the subject A in the image obtained is in the rotation side with the visual fieldRotated in the opposite direction with the identical anglec of rotation.Due to the object lens 8 and treatment apparatus 9 that are configured on identical front end face 3aRelative position do not change, therefore the position of the treatment apparatus 9 locally shot on the image of acquirement does not change.
In this regard, in the present embodiment, being arranged at the image processing part generation of control unit 6 makes the figure obtained via object lens 8The correction chart picture as obtained from being rotatably inserted into the anglec of rotation in portion 3.The direction of rotation of image is identical with the direction of rotation in the visual fieldDirection.
For example when since as the position of the benchmark shown in Fig. 4 (a) to (c) (reference position), such as Fig. 5 (a) andShown in Fig. 6, make when making 22 rotated counterclockwise by angle B (step S1) of handle, shown in such as Fig. 5 (b) the front end face 3a of insertion section 3 withRotated counterclockwise by angle B (step S2) centered on length axle Y, as visual field rotated counterclockwise by angle B result is made, acquiredImage in subject A is turned clockwise angle B.
Now, control unit 6 calculates angle B (step S3), and image processing part generation makes image rotated counterclockwise by angle B and obtainedThe correction chart picture (step S4) arrived, and monitor 7 is shown the correction chart picture (step S5).Its result is to be shown in monitoringIn the correction chart picture of device, such as Fig. 5 (c) shown in, by subject A do not rotate and in the way of the rotated counterclockwise by angle B for the treatment of apparatus 9Shown.
I.e., in the present embodiment, due to when operator O makes 22 rotated counterclockwise by angle B of handle, on monitor 7The also rotated counterclockwise by angle B, therefore have the following advantages that for the treatment of apparatus 9：Monitor 7 is observed while the operation being disposedPerson O can be operated intuitively.Also, due to making the position and the position one of the treatment apparatus 9 on monitor 7 of handle 22Cause, therefore have the following advantages that：Even if when operator O after the activation the place away from keyboard, interval time and operate againIn the case of, it can also readily recognize the corresponding relation of handle 22 and treatment apparatus 9.
In the case of the conventional master-slave system without image rectification, such as Fig. 7 (a) to (c) shown in, due to no matterThe anglec of rotation of handle 22, the treatment apparatus 9 being shown on the image of monitor 7 is fixed on all the time as shown in Fig. 7 (c)Reference position, therefore the anglec of rotation of handle 22 is bigger, the position relationship of handle 22 and treatment apparatus 9 is got over and can shifted,In the case that interval time is operated, the problem of generation is difficult to corresponding relation.
In addition, in the present embodiment, the feelings of the operation to operating portion 23 can also be disposed in operation handle 22Condition is illustrated, but in order to prevent to be acted mistakenly treatment apparatus 9 in operation handle 22, can also be with exclusiveMode operated.In this case, as shown in figure 8, for example by the selection mode (step S6) of floor push 24, in switchingIn the case of disposal appliance operation pattern, the operation (step S7) of fixed handle 22 passes through the operation (step in disposal operations portion 23Rapid S8) treatment apparatus 9 is acted (step S9).Also, in the case where being switched to endoscopic procedure pattern, as long as fixedDisposal operations portion 23 (step S10), insertion section 3 is acted by the operation of handle 22, is given birth to according to the anglec of rotation of handle 22Into correction chart picture, and monitor 7 is set to show the correction chart picture (step S1 to S5).As long as also, make being capable of phase between patternMutually switching can (step S11, S12).
Also, it must enter to exercise the correction of image rotation in the case of in the present embodiment, rotating in insertion section 3, butIt can also replace, can be according to operator O hobby, switching makes the pattern of image rotation and does not make the mould of image rotationFormula.
Also, as Fig. 9 (a) and (b) is shown, master device 2 and it may not be similar figures as from the endoscope 4 of deviceShape.In this case, as long as configuring axis X in the center for being arranged at two clip portions 2a, 2b of master device 2, and will be aroundThe anglec of rotation of the axle is used as the anglec of rotation of handle 22.
Also, on generation correction chart as when image rotation, can be carried out centered on the center of image,It can also be carried out centered on the center of the subject A on image.In subject A center is set toThe heart, and subject A can be made to be shown as static as in correction chart.
Also, the anglec of rotation in the present embodiment, exemplifying the anglec of rotation of handle and the front end of insertion section is equalSituation and be illustrated, but as long as both are corresponding, the anglec of rotation can also be unequal.In this case, by making prisonThe anglec of rotation of image rotation insertion section on visual organ, and can be shown in the motionless mode of subject, it is on the other hand logicalThe anglec of rotation of the image rotation handle made on monitor is crossed, and treatment apparatus on the position and monitor of handle can be madePosition consistency.
Then, the master-slave system referring to the drawings to second embodiment of the present invention is illustrated.In present embodimentIn explanation, pair label identical with the position mark that the master and slave devices and structure of above-mentioned first embodiment are common is simultaneously omittedIt is bright.
As shown in Figure 10, in the master-slave system of present embodiment, control unit 6 is same with first embodiment, according to handThe anglec of rotation of handle 22 makes image rotation and is shown on monitor 7 (step S1 to S5), and in handle 22 from reference positionWhen rotating to such as ± 90 ° of set angle (step S13), following processing is carried out.
That is, the first step first, control unit 6 ask whether the display (step S14) of the image on swivel monitor 7.
In the case that operator O correspondingly has for example carried out allowing the input of rotation by floor push 24, controlPortion 6 processed indicates correction image rotation correction angle (for example, 180 °) set in advance.Thus, in the image on monitor 7,Above and below subject A is inverted, described in (a) of the position of the treatment apparatus 9 on image for example from Figure 11 relative to 90 ° of reference positionPosition be moved to -90 ° of position (step S15) shown in Figure 11 (b).
Then, control unit 6 releases master device 2 and the corresponding relation (step S16) of endoscope 4.Thus, cut-out connection, makesEven if obtaining operator's O operation master device 2, endoscope 4 is not also moved.Then, in above-mentioned example, by the insertion of endoscope 4Portion 3 is maintained at and 90 ° of position is have rotated from reference position, and the image on monitor 7 is also with from the non-rotary side in -90 ° of positionFormula is fixed.
And then, when operation handle 22 (step S17), control unit 6 monitors the anglec of rotation of handle 22, and judges handle 22The anglec of rotation and monitor 7 on image in treatment apparatus 9 the anglec of rotation it is whether consistent (step S18).Above-mentionedIn example, judge whether the anglec of rotation of handle 22 is moved to -90 ° from 90 °.
Then, it is consistent with the anglec of rotation of the treatment apparatus 9 in the image on monitor 7 in the anglec of rotation of handle 22In the case of, control unit 6 is again turned on the corresponding relation (step S19) of master device 2 and endoscope 4.
Thus, as long as operator's O operation master device 2, endoscope 4 is with regard to correspondingly being acted.
In this case, in above-mentioned example, because the insertion section 3 of endoscope 4 have rotated 90 ° of shape from reference positionState is corresponding with the state that handle 22 have rotated -90 ° from reference position, therefore, can when making handle 22 be rotated to positive directionMake endoscope 4 insertion section 3 exceed from reference position as 90 ° of set angle the position to be rotated to.
Also, in this case, due to the treatment apparatus 9 in the anglec of rotation and monitor 7 of the handle 22 of master device 2The anglec of rotation is consistent, there is an advantage in that：For observing monitor 7 while for the operator O being disposed, energyEnough intuitively operated.
Also, according to present embodiment, have the following advantages that：The anglec of rotation of handle 22 can be converged in set angleIn the range of to prevent operator O posture by restraining, and make endoscope 4 in the wide angle of the scope more than set angleIn the range of acted.
In addition, in the present embodiment, exemplifying using the set angle of ± 90 ° of processing as switch control portion 6, but notIt is limited to this.Also, exemplify 180 ° when the anglec of rotation of handle 22 has exceeded set angle as making the school of image rotationPositive-angle, but not limited to this.
For example, when setting ± 60 ° as set angle, being used as correction angle, it is preferred to use handle 22 can be reducedThe defined angle of the absolute value of the anglec of rotation, for example as 110 ° or -110 ° of less than 120 ° of angle.That is, in handle 22Anglec of rotation when have rotated+60 ° from reference position, using -110 ° as angles are corrected, so that the correction on monitor 7Image rotates to -50 ° of the anglec of rotation from reference position.
Therefore, the anglec of rotation for making handle 22 rotate to -50 ° after handle 22 and the corresponding relation of insertion section 3 is being relievedWhen spending, corresponding relation is again turned on, thus, it is possible to enter to exercise the position of handle 22 and the treatment apparatus 9 on monitor 7 againThe operation of the state of position consistency, and insertion section 3 can be made to be rotated in the wide scope more than the scope of set angle.
Also, corresponding relation in the present embodiment, is again turned on after handle 22 correctly have rotated correction angle, butIt can also replace, corresponding relation is again turned on when the difference with correcting angle is below defined threshold value.
Then, the master-slave system referring to the drawings to third embodiment of the present invention is illustrated.
In the explanation of the master-slave system of present embodiment, master-slave system and structure pair with above-mentioned second embodimentCommon position marks identical label and omitted the description.
In the master-slave system of present embodiment, as shown in figure 12, control unit 6 in the same manner as second embodiment, according toThe anglec of rotation of handle 22 makes image rotation and is shown on monitor 7 (step S1 to S5), and takes office in the rotation of handle 22During the angle of meaning, when operator O is inputted by operating floor push 24 (step S20), correspondingly grasp disposalThe operation for making portion 23 is invalid (step S21), releases master device 2 and the corresponding relation (step S22) of endoscope 4.
Then, arbitrary angle (move angle) is moved afterwards (step S23) making handle 22 to the direction of return, in behaviourWhen author O is inputted again by operation floor push 24 (step S24), control unit 6 moves the correction chart picture on monitor 7Above-mentioned move angle (step S25) is moved, corresponding relation (step S26) is again turned on, the operation for making disposal operations portion 23 is effective(step S27).
For example, be have rotated by handle 22 from reference position in the state of 45 °, the floor push 24 in operator's O operationWhen, master device 2 and the corresponding relation of endoscope 4 are released from, therefore, it is possible to which the insertion section 3-dimensional of endoscope 4 to be held to the rotation at 45 °Angle and rotate freely through handle 22.Control unit 6 monitor at the time of floor push 24 are operated handle 22 movementAngle, in the case of floor push 24 is operated again when operator O makes handle 22 have rotated such as -60 °, makes monitorCorrection chart on 7 is as rotation movement angle (- 60 °).
Thus, the position due to handle 22 and the position consistency of the treatment apparatus 9 on monitor 7, therefore control unit 6 is againMaster device 2 and the corresponding relation of endoscope 4 are opened, can continue to intuitively be operated, and can prevent operator O from turning intoContained posture and endoscope 4 is set to be acted in broader angular range.
Then, the master-slave system referring to the drawings to the 4th embodiment of the present invention is illustrated.
In description of the present embodiment, pair portion common with the master-slave system 1 and structure of above-mentioned first embodimentPosition mark identical label is simultaneously omitted the description.
In the present embodiment, as shown in figure 13, monitor 7 is fixed on handle 22, without making the school of image rotationThis point just handled is different from the master-slave system 1 of the first to the 3rd embodiment.
I.e., in the present embodiment, when making handle 22 be rotated from the reference position shown in Figure 14, as shown in figure 15, showShow that the treatment apparatus 9 on monitor 7 is not moved relative to monitor 7, but because monitor 7 is together moved with handle 22, becauseThe angle that this is actually displayed at the treatment apparatus 9 on monitor 7 is consistent with the angle of handle 22.
Therefore, in the master-slave system of present embodiment, operator O also can observe monitor 7 while carrying out straightThe operation of sight.
In addition, in the case where monitor is fixed on into handle 22, when the anglec of rotation of handle 22 becomes big, operator O'sPosture is also by restraining, therefore, it is possible to avoid the situation by following method.
In the case where handle 22 rotates to such as ± 90 ° of set angle from the reference position of 0 ° of the anglec of rotation, control unit 6It is confirmed whether to wish to restore the position of handle 22 to operator O, has carried out wishing to make for example, by floor push 24 in operator OIn the case of the input that the position of handle 22 is restored, control unit 6 releases master device 2 and the corresponding relation of endoscope 4, in operatorO makes handle 22 return to the corresponding relation for being again turned on master device 2 and endoscope 4 at the time of near reference position.
Also, it is used as the side that prevents from turning into because of the operation of handle 22 contained posture and can intuitively be operatedMethod, it would however also be possible to employ following method.
That is, first since the state of the reference position shown in Figure 16 (a) and (b), such as shown in Figure 17 (a) and (b),Correction chart picture is not generated and handle 22 is rotated arbitrary move angle by operator O.Now, handle 22 is with being shown in monitorThe position relationship for the treatment of apparatus 9 on 7 shifts.
In this condition, when operator O tramples floor push 24, master device 2 and the corresponding relation of endoscope 4 are solvedRemove, such as shown in Figure 18 (a) and (b), corresponding relation is again turned at the time of handle 22 moves above-mentioned move angle and restored.Thus, the position relationship for the treatment of apparatus 9 of the handle 22 with being shown on monitor 7 is consistent.Therefore, by repeating the process, energyEnough operation handles 22 in smaller angular range, and make treatment apparatus in the wide range more than the angular rangeRotation.
Label declaration
A：Subject；X：Trunnion axis (axis)；Y：Length axle (axis)；1：Master-slave system；3a：Front end face (face)；4：It is interiorSight glass (from device)；6：Control unit；7：Monitor；8：Object lens (viewing optical system)；9：Treatment apparatus (disposal portion)；22：HandHandle；23：Disposal operations portion；24：Floor push (input unit)；S2：Action step；S4：Image generation step；S5：Step display；S16：Release step；S19：It is again turned on step.